PLS5618/robot-2024
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This commit is contained in:
Antoine PerreaultE 2024-02-27 18:57:01 -05:00
parent 36859ec3ad
commit f1f3934080
7 changed files with 9 additions and 9 deletions
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2
src/main/deploy/swerve/modules/backleft.json
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@ -3,7 +3,7 @@
"front": -12.375, "front": -12.375,
"left": 12.375 "left": 12.375
}, },
"absoluteEncoderOffset": 0.416259765625, "absoluteEncoderOffset":299.443,
"drive": { "drive": {
"type": "sparkmax", "type": "sparkmax",
"id": 8, "id": 8,

2
src/main/deploy/swerve/modules/backright.json
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@ -3,7 +3,7 @@
"front": -12.375, "front": -12.375,
"left": -12.375 "left": -12.375
}, },
"absoluteEncoderOffset": -0.023193359375, "absoluteEncoderOffset": 95.537,
"drive": { "drive": {
"type": "sparkmax", "type": "sparkmax",
"id": 11, "id": 11,

2
src/main/deploy/swerve/modules/frontleft.json
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@ -3,7 +3,7 @@
"front": 12.375, "front": 12.375,
"left": 12.375 "left": 12.375
}, },
"absoluteEncoderOffset": 0.2744140625, "absoluteEncoderOffset":348.223 ,
"drive": { "drive": {
"type": "sparkmax", "type": "sparkmax",
"id": 2, "id": 2,

2
src/main/deploy/swerve/modules/frontright.json
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@ -3,7 +3,7 @@
"front": 12.375, "front": 12.375,
"left": -12.375 "left": -12.375
}, },
"absoluteEncoderOffset": -0.297119140625, "absoluteEncoderOffset": 200.215,
"drive": { "drive": {
"type": "sparkmax", "type": "sparkmax",
"id": 18, "id": 18,

2
src/main/java/frc/robot/command/LancerAmp.java
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@ -27,7 +27,7 @@ public class LancerAmp extends Command {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
double vitesse = 0.15; double vitesse = 0.3;
lancer.lanceramp(); lancer.lanceramp();
if(lancer.vitesse(vitesse)>vitesse){ if(lancer.vitesse(vitesse)>vitesse){
accumulateur.Accumuler(); accumulateur.Accumuler();

4
src/main/java/frc/robot/subsystem/Accumulateur.java
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@ -18,7 +18,7 @@ public class Accumulateur extends SubsystemBase {
ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard"); ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
private GenericEntry vitesse = private GenericEntry vitesse =
dashboard.add("vitesseacc", 0.5) dashboard.add("vitesseacc", 0.6)
.withSize(1, 1) .withSize(1, 1)
.withPosition(0, 0) .withPosition(0, 0)
.getEntry(); .getEntry();
@ -41,7 +41,7 @@ public class Accumulateur extends SubsystemBase {
Moteuracc2.set(-vitesse); Moteuracc2.set(-vitesse);
} }
public void Accumuler(){ public void Accumuler(){
Accumuler(vitesse.getDouble(0.5)); Accumuler(vitesse.getDouble(0.6));
} }
@Override @Override

4
src/main/java/frc/robot/subsystem/Lanceur.java
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@ -31,7 +31,7 @@ public class Lanceur extends SubsystemBase {
.withPosition(2,0) .withPosition(2,0)
.getEntry(); .getEntry();
private GenericEntry vitesseamp = private GenericEntry vitesseamp =
dashboard.add("vitesseamp", 0.15) dashboard.add("vitesseamp", 0.3)
.withSize(1, 1) .withSize(1, 1)
.withPosition(1,0) .withPosition(1,0)
.getEntry(); .getEntry();
@ -90,7 +90,7 @@ public class Lanceur extends SubsystemBase {
lancer(vitesse.getDouble(0.8)); lancer(vitesse.getDouble(0.8));
} }
public void lanceramp(){ public void lanceramp(){
lancer(vitesseamp.getDouble(0.1)); lancer(vitesseamp.getDouble(0.3));
} }
public double vitesse(double vitesse){ public double vitesse(double vitesse){
return lanceur3.getEncoder().getVelocity(); return lanceur3.getEncoder().getVelocity();